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3	3	|(% colspan="2" rowspan="1" %)Data format on USB-Serial|(% colspan="3" rowspan="1" %)Data format on CAN-Bus
4		-|(% style="background-color:yellow; width:150px" %)Header|(% style="background-color:yellow; width:300px" %)# or *|(% style="width:150px" %)ID[28-20]|(% style="width:300px" %)Reserved|
5		-| | |(% style="background-color:yellow" %)ID[19]|(% style="background-color:yellow" %)Request/Response (0:Request 1:Response)|(% style="background-color:yellow" %)# = 0, * = 1
	4	+|(% style="width:150px" %) |(% style="width:300px" %) |(% style="width:150px" %)ID[28-20]|(% style="width:300px" %)Reserved|
	5	+|(% style="background-color:yellow" %)Header|(% style="background-color:yellow" %)# or *|(% style="background-color:yellow" %)ID[19]|(% style="background-color:yellow" %)Request/Response (0:Request 1:Response)|(% style="background-color:yellow" %)# = 0, * = 1
6	6	| | |ID[18]|Presence of command parameters|Set to 1 if there are parameters such as D commands, set to 0 if there are parameters such as Query commands, etc.
7	7	| | |ID[17]|Presence of sub-command id|Set to 1 if there is a Modifier command (SD/T), otherwise set to 0.
8	8	| | |ID[16]|Presence of sub-command parameter|Set to 1 if there is a parameter for the Modifier command, otherwise set to 0.
9	9	(SD/T requires a parameter, so currently if ID[17] is 1, ID[16] will also be 1.)
10		-|(% style="background-color:green" %)ServoID|(% style="background-color:green" %)Servo ID|ID[15-8]|Source ID|
	10	+|(% style="background-color:#22e817" %)ServoID|(% style="background-color:#22e817" %)Servo ID|(% style="background-color:#22e817" %)ID[15-8]|(% style="background-color:#22e817" %)Source ID|(% style="background-color:#22e817" %)
11	11	| | |ID[7-0]|Destination ID|
12		-|Command|Action Command (ex. RESET, D, etc..)
	12	+|(% style="background-color:orange" %)Command|(% style="background-color:orange" %)Action Command (ex. RESET, D, etc..)
13	13	Query Command (ex. QID, QD, etc...)
14		-Configuration Command (ex. CID, etc...)|DATA0|Command ID|See Command ID List.
15		-|Value|Command Value|DATA1|Command parameter0|
16		-| | |DATA2|Command parameter1|
17		-| | |DATA3|Command parameter2|
18		-| | |DATA4|Command parameter3|
19		-|Modifier|Modifier Command (ex. SD, T, etc...)|DATA5|Sub-command ID|See Command ID List.
20		-|Modifier Value|Modifier Command Value|DATA6|Sub-command parameter0|
21		-| | |DATA7|Sub-command parameter1|
	14	+Configuration Command (ex. CID, etc...)|(% style="background-color:orange" %)DATA0|(% style="background-color:orange" %)Command ID|(% style="background-color:orange" %)See Command ID List.
	15	+|(% style="background-color:#17e5e8" %)Value|(% style="background-color:#17e5e8" %)Command Value|(% style="background-color:#17e5e8" %)DATA1|(% style="background-color:#17e5e8" %)Command parameter0|(% style="background-color:#17e5e8" %)
	16	+| | |(% style="background-color:#17e5e8" %)DATA2|(% style="background-color:#17e5e8" %)Command parameter1|(% style="background-color:#17e5e8" %)
	17	+| | |(% style="background-color:#17e5e8" %)DATA3|(% style="background-color:#17e5e8" %)Command parameter2|(% style="background-color:#17e5e8" %)
	18	+| | |(% style="background-color:#17e5e8" %)DATA4|(% style="background-color:#17e5e8" %)Command parameter3|(% style="background-color:#17e5e8" %)
	19	+|(% style="background-color:#e817e1" %)Modifier|(% style="background-color:#e817e1" %)Modifier Command (ex. SD, T, etc...)|(% style="background-color:#e817e1" %)DATA5|(% style="background-color:#e817e1" %)Sub-command ID|(% style="background-color:#e817e1" %)See Command ID List.
	20	+|(% style="background-color:#3b3bff" %)Modifier Value|(% style="background-color:#3b3bff" %)Modifier Command Value|(% style="background-color:#3b3bff" %)DATA6|(% style="background-color:#3b3bff" %)Sub-command parameter0|(% style="background-color:#3b3bff" %)
	21	+| | |(% style="background-color:#3b3bff" %)DATA7|(% style="background-color:#3b3bff" %)Sub-command parameter1|(% style="background-color:#3b3bff" %)
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